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Rev	Author	Line No.	Line
1995	-	1	// ######################## SPI - FlightCtrl ###################
		2	#include "main.h"
		3	#include "eeprom.h"
		4
		5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
		6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
		7	struct str_ToNaviCtrl ToNaviCtrl;
		8	struct str_FromNaviCtrl FromNaviCtrl;
		9	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
		10	struct str_SPI_VersionInfo NC_Version;
		11	struct str_GPSInfo GPSInfo;
		12
		13	unsigned char SPI_BufferIndex;
		14	unsigned char SPI_RxBufferIndex;
		15	signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
		16
		17	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
		18	unsigned char *SPI_TX_Buffer;
		19
		20	unsigned char SPITransferCompleted, SPI_ChkSum;
		21	unsigned char SPI_RxDataValid,NaviDataOkay = 250;
		22
		23	unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
		24	unsigned char SPI_CommandCounter = 0;
		25	unsigned char NC_ErrorCode = 0;
		26	unsigned char NC_GPS_ModeCharacter = ' ';
		27	unsigned char EarthMagneticField = 0;
		28	unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
		29	signed int POI_KameraNick = 0; // in 0,1�
		30	vector16_t MagVec = {0,0,0};
		31
		32	#ifdef USE_SPI_COMMUNICATION
		33
		34	//------------------------------------------------------
		35	void SPI_MasterInit(void)
		36	{
		37	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
		38	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
		39
		40	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
		41	SPSR = 0;//(1<<SPI2X);
		42
		43	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
		44	SPITransferCompleted = 1;
		45
		46	//SPDR = 0x00; // dummy write
		47
		48	ToNaviCtrl.Sync1 = 0xAA;
		49	ToNaviCtrl.Sync2 = 0x83;
		50
		51	ToNaviCtrl.Command = SPI_FCCMD_USER;
		52	ToNaviCtrl.IntegralNick = 0;
		53	ToNaviCtrl.IntegralRoll = 0;
		54	FromNaviCtrl_Value.SerialDataOkay = 0;
		55	SPI_RxDataValid = 0;
		56
		57	}
		58
		59	//------------------------------------------------------
		60	void SPI_StartTransmitPacket(void)
		61	{
		62	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
		63	if (!SPITransferCompleted) return;
		64	// _delay_us(30);
		65
		66	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		67	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
		68
		69	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		70	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
		71
		72	SPITransferCompleted = 0;
		73	UpdateSPI_Buffer(); // update buffer
		74
		75	SPI_BufferIndex = 1;
		76	//ebugOut.Analog[16]++;
		77	// -- Debug-Output ---
		78	//----
		79	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		80	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		81	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		82	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
		83	SPDR = ToNaviCtrl.Sync1; // Start transmission
		84	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		85
		86	}
		87
		88	//------------------------------------------------------
		89	//SIGNAL(SIG_SPI)
		90	void SPI_TransmitByte(void)
		91	{
		92	static unsigned char SPI_RXState = 0;
		93	unsigned char rxdata;
		94	static unsigned char rxchksum;
		95
		96	if (SPITransferCompleted) return;
		97	if (!(SPSR & (1 << SPIF))) return;
		98	SendSPI = 4;
		99
		100	// _delay_us(30);
		101	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		102
		103	rxdata = SPDR;
		104	switch ( SPI_RXState)
		105	{
		106	case 0:
		107
		108	SPI_RxBufferIndex = 0;
		109	rxchksum = rxdata;
		110	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		111
		112	break;
		113
		114	case 1:
		115	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		116	else SPI_RXState = 0;
		117	break;
		118
		119	case 2:
		120	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		121	//DebugOut.Analog[19]++;
		122	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		123	{
		124
		125	if (rxdata == rxchksum)
		126	{
		127	unsigned char ptr = (unsigned char )&FromNaviCtrl;
		128	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
		129	SPI_RxDataValid = 1;
		130	}
		131	else
		132	{
		133	SPI_RxDataValid = 0;
		134	}
		135
		136
		137	SPI_RXState = 0;
		138	}
		139	else rxchksum += rxdata;
		140	break;
		141
		142	}
		143
		144	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		145	{
		146	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		147	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		148	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		149	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
		150
		151	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
		152	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
		153	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		154
		155	}
		156	else SPITransferCompleted = 1;
		157
		158	SPI_BufferIndex++;
		159	}
		160
		161
		162	//------------------------------------------------------
		163	void UpdateSPI_Buffer(void)
		164	{
		165	signed int tmp;
		166	static unsigned char motorindex;
		167	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
		168	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
		169	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
		170	ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
		171	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
		172	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
		173	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
		174	// ToNaviCtrl.User8 = Parameter_UserParam8;
		175	// ToNaviCtrl.CalState = WinkelOut.CalcState;
		176	switch(ToNaviCtrl.Command) //
		177	{
		178	case SPI_FCCMD_USER:
		179	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		180	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		181	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		182	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		183	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		184	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		185	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
		186	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
		187	ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
		188	FC_StatusFlags &= ~(FC_STATUS_CALIBRATE \| FC_STATUS_START);
		189	ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
		190	ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
		191	ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
		192	break;
		193
		194	case SPI_FCCMD_ACCU:
		195	ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
		196	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
		197	ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
		198	ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
		199	ToNaviCtrl.Param.Byte[6] = VarioCharacter;
		200	ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig;
		201	ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig;
		202	ToNaviCtrl.Param.Byte[9] = motorindex;
		203	ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
		204	ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
		205	motorindex %= 12;
		206	break;
		207	case SPI_FCCMD_PARAMETER1:
		208	ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard
		209	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
		210	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
		211	ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
		212	ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
		213	ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
		214	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
		215	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
		216	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
		217	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
		218	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
		219	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
		220	break;
		221
		222	case SPI_FCCMD_STICK:
		223	cli();
		224	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		225	ToNaviCtrl.Param.Byte[0] = (char) tmp;
		226	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		227	ToNaviCtrl.Param.Byte[1] = (char) tmp;
		228	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		229	ToNaviCtrl.Param.Byte[2] = (char) tmp;
		230	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		231	sei();
		232	ToNaviCtrl.Param.Byte[3] = (char) tmp;
		233	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
		234	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
		235	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
		236	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
		237	ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
		238	ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
		239	ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
		240	ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
		241	break;
		242	case SPI_FCCMD_MISC:
		243	if(WinkelOut.CalcState > 5)
		244	{
		245	WinkelOut.CalcState = 0;
		246	ToNaviCtrl.Param.Byte[0] = 5;
		247	}
		248	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
		249	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
		250	ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
		251	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
		252	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
		253	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
		254	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
		255	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
		256	ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
		257	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
		258	break;
		259	case SPI_FCCMD_VERSION:
		260	ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
		261	ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
		262	ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
		263	ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
		264	ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
		265	ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
		266	ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
		267	VersionInfo.HardwareError[0] = 0;
		268	VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
		269	ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
		270	ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
		271	ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
		272	ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
		273	break;
		274	case SPI_FCCMD_SERVOS:
		275	ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
		276	ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
		277	ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
		278	ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
		279	ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
		280	ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
		281	ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
		282	ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
		283	ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
		284	ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
		285	ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
		286	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
		287	break;
		288	}
		289
		290	if(SPI_RxDataValid)
		291	{
		292	NaviDataOkay = 250;
		293	CalculateCompassTimer = 1;
		294	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		295	{
		296	GPS_Nick = FromNaviCtrl.GPS_Nick;
		297	GPS_Roll = FromNaviCtrl.GPS_Roll;
		298	}
		299
		300	// update compass readings
		301	// MagVec.x = FromNaviCtrl.MagVecX;
		302	// MagVec.y = FromNaviCtrl.MagVecY;
		303	// MagVec.z = FromNaviCtrl.MagVecZ;
		304
		305	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
		306	// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
		307
		308	if(FromNaviCtrl.BeepTime > beeptime /&& !WinkelOut.CalcState/) beeptime = FromNaviCtrl.BeepTime;
		309	switch (FromNaviCtrl.Command)
		310	{
		311	case SPI_NCCMD_KALMAN:
		312	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
		313	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
		314	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
		315	KompassFusion = FromNaviCtrl.Param.sByte[3];
		316	FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
		317	FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
		318	FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
		319	GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
		320	if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
		321	{
		322	KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
		323	if(EE_Parameter.CamOrientation) // Kamera angle is not front
		324	{
		325	KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
		326	KompassSollWert %= 360;
		327	}
		328	}
		329	POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
		330	break;
		331	case SPI_NCCMD_VERSION:
		332	NC_Version.Major = FromNaviCtrl.Param.Byte[0];
		333	NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
		334	NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
		335	NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
		336	NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
		337	DebugOut.Status[0] \|= FromNaviCtrl.Param.Byte[5];
		338	DebugOut.Status[1] = (DebugOut.Status[1] & (0x01\|0x02)) \| (FromNaviCtrl.Param.Byte[6] & (0x04 \| 0x08));
		339	NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
		340	NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
		341	FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
		342	// = FromNaviCtrl.Param.Byte[10];
		343	// = FromNaviCtrl.Param.Byte[11];
		344	break;
		345	case SPI_NCCMD_GPSINFO:
		346	GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
		347	GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
		348	GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
		349	GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
		350	GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
		351	GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
		352	PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
		353	FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
		354	FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm
		355	break;
		356	case SPI_MISC:
		357	EarthMagneticField = FromNaviCtrl.Param.Byte[0];
		358	EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
		359	EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
		360	break;
		361
		362	#if ((defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
		363	#warning : "### with Hottmenu ###"
		364	case SPI_NCCMD_HOTT_DATA:
		365	if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
		366	break;
		367	#endif
		368
		369	// 0 = 0,1
		370	// 1 = 2,3
		371	// 2 = 4,5
		372	// 3 = 6,7
		373	// 4 = 8,9
		374	// 5 = 10,11
		375	default:
		376	break;
		377	}
		378	}
		379	else
		380	{
		381	// KompassValue = 0;
		382	// KompassRichtung = 0;
		383	GPS_Nick = 0;
		384	GPS_Roll = 0;
		385	}
		386	}
		387
		388	#endif
		389
		390

Subversion Repositories FlightCtrl

(root)/branches/V0.86d_MartinW_Jeti+V0.20/spi.c @ 1996 - Rev